Steel structure crack detection equipment based on binocular vision system

Abstract

The invention relates to the technical field of binocular vision detection, in particular to steel structure crack detection equipment based on a binocular vision system, which comprises two eyeball cameras mounted on an unmanned aerial vehicle and a blinking mechanism arranged between the two eyeball cameras, the blinking mechanism comprises an eye frame, a disc placing device, a wheel controller, a liquid tank mechanism, a transverse bracket, a focal length rotary knob disc, a synchronizing shaft and a zoom accelerator, and when the unmanned aerial vehicle carries binocular camera equipment to carry out steel bridge crack detection, spherical lenses of the two eyeball cameras automatically complete blinking cleaning once every a period of time; and the blinking is realized by sequentially and alternately swinging the two eye frames, so that the situation that the sight is briefly shielded due to the simultaneous blinking is avoided, and the bionic blinking cleaning and the detection shooting in the invention do not influence each other.

Description

Technical Field

[0001] The present invention relates to the technical field of binocular vision detection, and specifically to a steel structure crack detection device based on a binocular vision system. Background Art

[0002] In view of the current situation of low efficiency, high cost and low accuracy of bridge crack measurement at home and abroad, it is necessary to improve and research the technology of binocular vision for measuring bridge cracks.

[0003] The technology of binocular vision for measuring bridge cracks is to use an unmanned aerial vehicle (UAV) equipped with a binocular camera device. The UAV is light in weight, small in size, flexible and portable, with a comprehensive shooting angle and strong operability. The binocular camera is fixed on the UAV to achieve multi-directional shooting of the bottom and surrounding of the bridge. The binocular camera composed of two eyeball cameras is derived from bionic design and can accurately detect steel bridge cracks.

[0004] If it is possible to bionically blink the two eyes to remove dust and foreign objects on the lens, the binocular camera can take clearer pictures to detect steel bridge cracks. At the same time, the binocular lens is dry, and the design of automatically moistening the eyes when blinking can be bionically imitated, so as to protect the blinking mechanism and the binocular lens. If the two eyes blink simultaneously, there will be a short-term loss of the line-of-sight image. Therefore, the way of taking turns blinking can be adopted, so that the cleaning of the eye lens and the shooting detection can be carried out simultaneously.

[0005] In addition, a blink can be quickly completed when the camera zooms. From a bionic perspective, when an animal changes the object it focuses on, it usually blinks unconsciously to readjust the line of sight or adapt to the new visual environment. The eye focal length changes. Correspondingly, when the binocular camera detects a steel bridge, if a crack is found, the binocular camera will magnify the shooting at the crack, the camera focal length changes, and a blink is temporarily and quickly completed to clean the lens. After blinking, the camera can take clear pictures to ensure that the captured crack image information is correct.

[0006] Based on the above technical research theory, the present invention provides a steel structure crack detection device based on a binocular vision system. Summary of the Invention

[0007] The purpose of the present invention is to provide a steel structure crack detection device based on a binocular vision system to solve the problems raised in the above background art.

[0008] To achieve the above purpose, the present invention provides the following technical solution: A steel structure crack detection device based on a binocular vision system includes two eyeball cameras installed on an unmanned aerial vehicle, and a blinking mechanism arranged between the two eyeball cameras. The blinking mechanism includes: Eyeglasses arranged at the spherical lenses of each eyeball camera, and the two eyeglasses clean the spherical lenses of the two eyeball cameras respectively by taking turns blinking and wiping; A tray device connected to one end of each eyeglass frame, and the tray devices are distributed between the two eyeglass frames; A wheel controller that establishes a transmission between the two tray devices; A liquid tank mechanism for supplying lubricating and cleaning liquid to the two tray devices, and a horizontal bracket for fixedly supporting the liquid tank mechanism, and the horizontal bracket is fixed between the two eyeball cameras; A focal length knob disk correspondingly installed on each eyeball camera, and a synchronization shaft vertically fixed between the two focal length knob disks; A zoom accelerator installed between the two eyeball cameras, one end of the zoom accelerator is in transmission connection with the wheel controller, and the zoom accelerator is also in contact transmission with the focal length knob disk.

[0009] The eyeglass frame includes: An arc-shaped rubber strip in contact with the spherical lens of the eyeball camera, and a spring pressure frame group for supporting the arc-shaped rubber strip; A tear fluid pipe fixed on the spring pressure frame group, the tear fluid pipe is provided with an arc section, and a row of small holes are opened on the arc section. When the arc-shaped rubber strip dry-wipes the spherical lens of the eyeball camera, a row of small holes of the tear fluid pipe spray lubricating and cleaning liquid towards the spherical lens of the eyeball camera.

[0010] The tray device includes: A single tray for driving the spring pressure frame group to swing back and forth, and a single bracket for supporting the single tray, and one end of the single bracket is fixed on the horizontal bracket; A switch device for establishing communication between the liquid tank mechanism and the tear fluid pipe, and the single tray pushes and controls the switch device.

[0011] The single tray includes a tray shaft movably sleeved in a through hole opened on the single bracket, a single tray fixed at one end of the tray shaft, an arc-shaped floating plate arranged at the edge position of one end of the single tray, a return hook elastic sheet fixed on the single tray, a switch rod with one end in sliding contact with the arc-shaped floating plate, and an arc-shaped stop column in sliding contact with the other end of the switch rod. The switch rod slides through a column hole opened on an L-shaped plate arranged on the single tray. A hemispherical body arranged at the end of the switch rod is pushed by a cushion plate arranged on the arc-shaped floating plate. One end of the return hook elastic sheet is placed on a convex plate vertically arranged on the arc-shaped floating plate. The arc-shaped floating plate is fixedly connected with the spring pressure frame group, and the arc-shaped floating plate slides through an arc plate hole opened on a convex block arranged on the single tray.

[0012] The switch device includes a neck tube with one end fixedly communicated with the liquid tank mechanism, a movable barrel communicated with the other end of the neck tube, a door post for blocking the channel of the neck tube, and a return pressure elastic sheet with one end placed on the door post, and the other end of the return pressure elastic sheet is fixed on the neck tube. One end of the door post is fixedly connected with the arc-shaped stop column, and the other end slides and inserts into a square tube arranged on the neck tube. The movable barrel is movably sleeved in a barrel body arranged on the neck tube, and the movable barrel is fixedly communicated with the tear fluid pipe.

[0013] The wheel controller includes a steering frame fixed on a cross bracket, a camshaft movably sleeved in a through hole formed in the cross bracket, a cam fixed at one end of the camshaft, a positive L-shaped frame in contact with one side of the cam, an inverted L-shaped frame in contact with the other side of the cam, and spring return assemblies provided on both the positive L-shaped frame and the inverted L-shaped frame. One spring return assembly is connected between the positive L-shaped frame and the steering frame and pushes the positive L-shaped frame against the cam. The other spring return assembly is connected between the inverted L-shaped frame and the steering frame and pushes the inverted L-shaped frame against the cam. Two struts are provided on the steering frame to slide through square holes formed in the positive L-shaped frame and the inverted L-shaped frame respectively. One end of a disk shaft is in meshing transmission with a row of teeth provided on the inverted L-shaped frame through a shaft gear. The other end of the disk shaft is in meshing transmission with a row of teeth provided on the positive L-shaped frame through a shaft gear.

[0014] The wheel controller further includes a T-shaped plate and a C-shaped elastic piece fixed on the steering frame. One end of the T-shaped plate is slidably inserted into a plate hole formed in the steering frame. The other end of the T-shaped plate is clamped into a V-shaped groove formed in the side wall of the camshaft through a tip. The C-shaped elastic piece presses the T-shaped plate.

[0015] The zoom accelerator includes an inner frame fixed between two eyeball cameras, a lead-out shaft movably sleeved in a through hole formed in the inner frame, a clockwork spring fixedly sleeved at one end of the lead-out shaft, a round cover shell fixedly sleeved outside the clockwork spring, a speed change integration supported by the inner frame, and a cross bar provided on the speed change integration. A plurality of arc grooves are evenly arranged in a circular shape on the edge of a focal length knob disk. The end of the cross bar is clamped in the arc groove of the focal length knob disk. The round cover shell is movably sleeved on the lead-out shaft through a bottom ring plate provided thereon. The round cover shell is in meshing transmission with a bevel gear provided at the end of the camshaft through an external gear ring provided thereon.

[0016] The speed change integration includes an upper fixed cylinder, a worm, a lower fixed cylinder and a head position cylinder supported and positioned by the inner frame, and a large disk gear fixedly sleeved on the head position cylinder. One end of the worm is in meshing transmission with an annular bevel gear sleeved on the upper fixed cylinder through a fixed bevel gear. The other end of the worm is in meshing transmission with an annular bevel gear sleeved on the lower fixed cylinder through a fixed bevel gear. The spiral teeth on the worm are in meshing transmission with a cylinder gear fixed on the lead-out shaft.

[0017] The variable speed integration further includes an adjusting plate, an upstream shaft gear supported at one end of the adjusting plate, a downstream shaft gear supported at the other end of the adjusting plate, a square pile column slidably passing through a square hole opened in the middle of the adjusting plate, a bow-shaped elastic piece connected between the square pile column and the adjusting plate, and a return elastic piece fixed on the inner frame. The return elastic piece makes the cross bar and the focal length knob disc engaged by pressing the cross bar. The square pile column is vertically and fixedly connected to the cross bar. The upstream shaft gear and the downstream shaft gear are respectively movably sleeved in different through holes opened on the adjusting plate. One end of the upstream shaft gear slidably inserts into a gear hole opened on the upper fixed cylinder, and the other end of the upstream shaft gear contacts and meshes with the large disc gear through axial movement. One end of the downstream shaft gear slidably inserts into a gear hole opened on the head position cylinder, and the other end of the downstream shaft gear is axially moved to be withdrawn from a gear hole opened on the lower fixed cylinder.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. When the unmanned aerial vehicle is equipped with a binocular camera device for steel bridge crack detection, the spherical lenses of the two eyeball cameras automatically complete a blinking cleaning every once in a while, and the blinking is realized by the sequential swinging of the two eye frames in turn, avoiding the temporary blockage of the line of sight caused by simultaneous blinking. The bionic blinking cleaning and detection shooting in the present invention do not affect each other.

[0019] 2. When the eye frame swings to clean the spherical lens of the eyeball camera, if the spherical lens is dry, the spraying of the lubricating cleaning liquid will be automatically triggered. The lubricating cleaning liquid is sprayed on the spherical lens, and the eye frame can continue to swing smoothly to wipe the spherical lens of the eyeball camera, protecting the spherical lens and the eye frame by bionic eye moistening.

[0020] 3. The present invention also bionics the blinking action when the line of sight changes. The focal length adjustment of the eyeball camera is accompanied by the temporary swinging and blinking of the eye frame, so that the spherical lens of the eyeball camera is quickly cleaned, and the cleaned eyeball camera can take clearer pictures. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic structural diagram of the present invention.

[0022] Figure 2 It is a schematic diagram of the position of the blinking mechanism.

[0023] Figure 3 It is a schematic diagram of the position of the eye frame.

[0024] Figure 4 It is a schematic diagram of the position of the eyeball camera.

[0025] Figure 5 It is a schematic diagram of the position of the focal length knob disc.

[0026] Figure 6 It is a schematic diagram of the position of the liquid tank mechanism.

[0027] Figure 7 It is a schematic diagram of the eye frame structure.

[0028] Figure 8 It is a schematic diagram of the plate arranging device structure.

[0029] Figure 9 It is a schematic diagram of the single tray structure.

[0030] Figure 10 It is a schematic diagram of the switch structure.

[0031] Figure 11 It is a schematic diagram of the wheel controller structure.

[0032] Figure 12 It is a schematic diagram of the zoom accelerator structure.

[0033] Figure 13 It is a schematic diagram of the variable speed integration structure.

[0034] In the figure: eyeball camera 1, blinking mechanism 2, eye frame 3, plate arranging device 4, wheel controller 5, liquid tank mechanism 6, horizontal bracket 7, focal length knob disk 8, synchronous shaft 9, zoom accelerator 10, arc-shaped rubber strip 11, spring pressure frame group 12, tear duct 13, single tray 14, single rack 15, switch 16, arc-shaped back plate 17, compression spring 18, direction rod 19, blinking frame body 20, arc-shaped floating plate 21, switch rod 22, arc-shaped stop column 23, tray shaft 24, single tray 25, return hook spring piece 26, return pressure spring piece 27, door post 28, neck position tube 29, movable barrel 30, direction control frame 31, C-shaped spring piece 32, T-shaped plate 33, camshaft 34, cam 35, inverted L-shaped frame 36, positive L-shaped frame 37, spring return assembly 38, clockwork spring 39, round cover shell 40, lead-out shaft 41, inner frame 42, cross bar 43, variable speed integration 44, upper fixed cylinder 45, worm 46, return spring piece 47, lower fixed cylinder 48, upstream shaft gear 49, bow-shaped spring piece 50, square pile column 51, adjusting plate 52, large disk gear 53, downstream shaft gear 54, head position cylinder 55. Specific embodiments

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the technical solutions in the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0036] Please refer to Figures 1 to 13 , the present invention provides a technical solution: a steel structure crack detection device based on a binocular vision system, including two eyeball cameras 1 installed on a drone, and a blinking mechanism 2 arranged between the two eyeball cameras 1. The blinking mechanism 2 includes: An eye frame 3 is arranged at the spherical lens of each eye camera 1, and the two eye frames 3 are used to clean the spherical lenses of the two eye cameras 1 respectively by blinking and wiping in turn; A plate swing device 4 is connected to one end of each eye frame 3, and the plate swing device 4 is distributed between the two eye frames 3; The wheel controller 5 establishes transmission between the two swing plate devices 4; A liquid tank mechanism 6 for supplying lubricating cleaning liquid to the two swinging discs 4, and a horizontal bracket 7 for fixing and supporting the liquid tank mechanism 6, the horizontal bracket 7 being fixed between the two eyeball cameras 1, the liquid tank mechanism 6 being in the prior art, storing lubricating cleaning liquid inside the liquid tank, and being installed with an internal pressure device, the liquid tank mouth being respectively connected with the two swinging discs 4, and a switch valve being installed on the swinging disc 4, once the valve is opened, the lubricating cleaning liquid in the liquid tank is automatically injected into the swinging disc 4, and then supplied to the eye frame 3; A focus knob 8 is correspondingly installed on each eyeball camera 1, and a synchronization shaft 9 is vertically fixed between the two focus knobs 8. The focus knob on the eyeball camera in the prior art is rotated to control the focus adjustment of the eyeball camera. The focus knob 8 in the present invention is a passive knob. A binocular vision system is set on the drone. When the eyeball camera 1 captures a crack in the steel bridge, the binocular vision system controls the focus adjustment of the eyeball camera 1, and the focus knob 8 on the eyeball camera 1 rotates simultaneously; The zoom accelerator 10 is installed between the two eyeball cameras 1 , one end of the zoom accelerator 10 is connected to the wheel controller 5 for transmission, and the zoom accelerator 10 is also connected to the focus knob 8 for transmission.

[0037] refer to Figure 7 Understand, the eye frame 3 includes: An arc-shaped rubber strip 11 in contact with the spherical lens of the eyeball camera 1, and a spring pressure frame group 12 supporting the arc-shaped rubber strip 11, the spring pressure frame group 12 is a prior art structure, the spring pressure frame group 12 applies elastic force to the arc-shaped rubber strip 11, the arc-shaped rubber strip 11 is attached to the spherical lens of the eyeball camera 1, the spring pressure frame group 12 includes an arc-shaped back plate 17 fixedly connected to the arc-shaped rubber strip 11, two direction rods 19 fixed on the arc-shaped back plate 17, a compression spring 18 sleeved on the direction rod 19, and a blinking frame 20 slidably penetrated by the direction rod 19; The tear duct 13 fixed on the spring pressure frame assembly 12 is provided with an arc section, and a row of small holes are opened on the arc section. When the arc rubber strip 11 wipes the spherical lens of the eyeball camera 1 dryly, the row of small holes in the tear duct 13 sprays lubricating cleaning liquid toward the spherical lens of the eyeball camera 1.

[0038] refer to Figure 8 It is understood that the plate-stirring device 4 includes: A single plate 14 driving the spring pressure frame group 12 to swing back and forth, and a single frame 15 supporting the single plate 14, one end of the single frame 15 is fixed on the horizontal bracket 7; A switch 16 that establishes communication between the liquid tank mechanism 6 and the tear duct 13 is pushed and controlled by the single plate tool 14.

[0039] Reference Figure 9 Understand that the single plate tool 14 includes a plate shaft 24 movably sleeved in a through hole opened on the single frame 15, a single plate 25 fixed to one end of the plate shaft 24, an arc-shaped floating plate 21 provided at the edge position of one end of the single plate 25, a return hook elastic piece 26 fixed to the single plate 25, a switch rod 22 in sliding contact with one end of the arc-shaped floating plate 21, and an arc-shaped stop column 23 in sliding contact with the other end of the switch rod 22. The switch rod 22 slides through a column hole opened on an L-shaped plate provided on the single plate 25. The arc-shaped floating plate 21 pushes against the hemispherical body provided at the end of the switch rod 22 by means of a backing plate. One end of the return hook elastic piece 26 rests on a convex plate vertically provided on the arc-shaped floating plate 21. The arc-shaped floating plate 21 is fixedly connected to the spring pressure frame group 12 and slides through an arc plate hole opened on a convex block provided on the single plate 25.

[0040] Reference Figure 10 Understand that the switch 16 includes a neck tube 29 fixedly communicating with one end of the liquid tank mechanism 6, a movable barrel 30 communicating with the other end of the neck tube 29, a door post 28 for blocking the passage of the neck tube 29, and a return pressure elastic piece 27 with one end resting on the door post 28. The other end of the return pressure elastic piece 27 is fixed to the neck tube 29. One end of the door post 28 is fixedly connected to the arc-shaped stop column 23, and the other end slides and inserts into a square tube provided on the neck tube 29. The movable barrel 30 is movably sleeved in a cylinder provided on the neck tube 29 and is fixedly connected to the tear duct 13.

[0041] Reference Figure 11 Understand that the wheel controller 5 includes a control direction frame 31 fixed to the horizontal bracket 7, a camshaft 34 movably sleeved in a through hole opened on the horizontal bracket 7, a cam 35 fixed to one end of the camshaft 34, a positive L-shaped frame 37 in contact with one side of the cam 35, an inverted L-shaped frame 36 in contact with the other side of the cam 35, and spring return components 38 provided on both the positive L-shaped frame 37 and the inverted L-shaped frame 36. One spring return component 38 is connected between the positive L-shaped frame 37 and the control direction frame 31 and pushes the positive L-shaped frame 37 against the cam 35. The other spring return component 38 is connected between the inverted L-shaped frame 36 and the control direction frame 31 and pushes the inverted L-shaped frame 36 against the cam 35. Two support columns are provided on the control direction frame 31 to respectively slide through square holes opened on the positive L-shaped frame 37 and the inverted L-shaped frame 36. One end of a plate shaft 24 is in meshing transmission with a row of teeth provided on the inverted L-shaped frame 36 through a shaft gear, and the other end of the other plate shaft 24 is in meshing transmission with a row of teeth provided on the positive L-shaped frame 37 through a shaft gear.

[0042] The wheel controller 5 further includes a T-shaped plate 33 and a C-shaped elastic piece 32 fixed on the steering frame 31. One end of the T-shaped plate 33 is slidably inserted into a plate hole opened on the steering frame 31, and the other end of the T-shaped plate 33 is clamped into a V-shaped groove opened on the side wall of the camshaft 34 by providing a tip. The C-shaped elastic piece 32 presses the T-shaped plate 33.

[0043] The zoom accelerator 10 includes an inner frame 42 fixed between two eyeball cameras 1, a lead-out shaft 41 movably sleeved in a through hole opened on the inner frame 42, a clockwork spring 39 fixedly sleeved at one end of the lead-out shaft 41, a round cover shell 40 fixedly sleeved outside the clockwork spring 39, a speed change integration 44 supported on the inner frame 42, and a cross bar 43 arranged on the speed change integration 44. A plurality of arc grooves are evenly arranged in a ring shape on the edge of the focal length knob disc 8, and the end of the cross bar 43 is clamped in the arc groove of the focal length knob disc 8. The round cover shell 40 is movably sleeved on the lead-out shaft 41 by providing a bottom ring plate, and the round cover shell 40 is meshed and driven with a bevel gear arranged at the end of the camshaft 34 by providing an external gear ring.

[0044] The speed change integration 44 includes an upper fixed cylinder 45, a worm 46, a lower fixed cylinder 48 and a head position cylinder 55 supported and positioned by the inner frame 42, and a large disc gear 53 fixedly sleeved on the head position cylinder 55. One end of the worm 46 is meshed and driven with an annular bevel gear sleeved on the upper fixed cylinder 45 through a fixed bevel gear, and the other end of the worm 46 is meshed and driven with an annular bevel gear sleeved on the lower fixed cylinder 48 through a fixed bevel gear. The spiral teeth on the worm 46 are meshed and driven with a cylinder gear fixed on the lead-out shaft 41. Refer to Figure 13 Understand that the upper fixed cylinder 45, the worm 46, the lower fixed cylinder 48 and the head position cylinder 55 are respectively movably sleeved in different through holes opened on the inner frame 42.

[0045] The speed change integration 44 further includes an adjusting plate 52, an upstream shaft gear 49 supported at one end of the adjusting plate 52, a downstream shaft gear 54 supported at the other end of the adjusting plate 52, a square pile column 51 slidably passing through a square hole opened in the middle of the adjusting plate 52, a bow-shaped elastic piece 50 connected between the square pile column 51 and the adjusting plate 52, and a return elastic piece 47 fixed on the inner frame 42. The return elastic piece 47 makes the cross bar 43 and the focal length knob disc 8 clamped by pressing the cross bar 43. The square pile column 51 is vertically and fixedly connected to the cross bar 43. The upstream shaft gear 49 and the downstream shaft gear 54 are respectively movably sleeved in different through holes opened on the adjusting plate 52. One end of the upstream shaft gear 49 is slidably inserted into a gear hole opened on the upper fixed cylinder 45, and the other end of the upstream shaft gear 49 contacts and meshes with the large disc gear 53 through axial movement. One end of the downstream shaft gear 54 is slidably inserted into a gear hole opened on the head position cylinder 55, and the other end of the downstream shaft gear 54 is axially moved to be withdrawn from a gear hole opened on the lower fixed cylinder 48.

[0046] Figure 13The right end of the head cylinder 55 is externally connected to a drive mechanism in the prior art. During the stage when the drone carries the eyeball camera 1 to photograph the steel bridge crack, the head cylinder 55 continuously rotates to drive the downstream shaft gear 54, and then drives the worm 46 through the lower fixed cylinder 48. At this time, the upstream shaft gear 49 and the large disc gear 53 are separated and do not transmit power. The rotating worm 46 drives the lead-out shaft 41, and the rotation of the lead-out shaft 41 causes the clockwork spring 39 to contract and store energy, providing rotational pressure for the round cover housing 40. At this time, the camshaft 34 is blocked by the T-shaped plate 33. When the rotational pressure is large enough, the blocking is broken, and the camshaft 34 is driven by the round cover housing 40 to rotate. The tip of the T-shaped plate 33 is pushed out of the V-shaped groove, and the camshaft 34 will then complete one full rotation. Subsequently, it is blocked by the T-shaped plate 33 again. In this way, the cam 35 completes a single full rotation at regular intervals. During the single full rotation process, the cam 35 successively pushes the inverted L-shaped frame 36 and the upright L-shaped frame 37. After being pushed, the inverted L-shaped frame 36 and the upright L-shaped frame 37 automatically reset. One reciprocating motion of the inverted L-shaped frame 36 corresponds to one reciprocating swing of the eye frame 3, and then one reciprocating motion of the upright L-shaped frame 37 corresponds to one reciprocating swing of the other eye frame 3.

[0047] The subsequent transmission of the inverted L-shaped frame 36 specifically drives the corresponding disc shaft 24 first. The disc shaft 24 drives the single disc 25 to complete one round-trip swing. Next, it drives the spring pressure frame group 12 through the arc travel plate 21, and then the arc-shaped rubber strip 11 completes one round-trip swing to wipe the spherical lens on the eyeball camera 1. Refer to Figure 6 and Figure 7 , during the upward swing wiping process of the arc-shaped rubber strip 11, if the spherical lens of the eyeball camera 1 is dry, it is difficult for the arc-shaped rubber strip 11 to move. Figure 10 In Figure 10 , the arc travel plate 21 in is restricted to rotate clockwise in a circular motion, and the single disc 25 rotates clockwise without change. Then the arc travel plate 21 will rotate one step slower. The arc travel plate 21 has a short-distance reverse movement relative to the single disc 25. The arc travel plate 21 will push the switch rod 22, thereby causing the arc-shaped stop column 23 to translate.

[0048] When the eyeball camera 1 zooms in or out, the two eyeglass frames 3 will quickly complete a round of blinking swings because the spring 39 at the driving source will quickly store up energy in a short time, causing the camshaft 34 to complete one full rotation, and the rotational speed of the lead-out shaft 41 to rapidly increase in a short time. Since the eyeball camera 1 zooms in or out under the binocular vision system, there are multiple locking points arranged on the circumference of the focal length knob disc 8, and each locking point corresponds to the node after the zooming in or out of the eyeball camera 1 is completed. When zooming in or out, the focal length knob disc 8 rotates, the cross bar 43 is pushed out of the arc groove, and when the zooming ends, the cross bar 43 re-engages with the focal length knob disc 8. During the stage when the cross bar 43 is pushed out, the cross bar 43 drives the square pile column 51, and then drives the adjusting plate 52 to move synchronously through the bow-shaped elastic piece 50. The buffer design of the bow-shaped elastic piece 50 is used to avoid the non-engagement problem when the upstream shaft gear 49 and the large disc gear 53 are butted, and also avoid the non-engagement problem between the lower fixed cylinder 48 and the downstream shaft gear 54 during the reset stage. Continuing back to the translation of the adjusting plate 52 moving horizontally, Figure 13 in the adjusting plate 52 moves to the right, driving the upstream shaft gear 49 and the downstream shaft gear 54 in the process. As a result, the upstream shaft gear 49 comes into contact with and meshes with the large disc gear 53, while the downstream shaft gear 54 separates from the lower fixed cylinder 48. Then, the transmission path between the head position cylinder 55 and the lead-out shaft 41 changes. The head position cylinder 55 drives the large disc gear 53 to rotate, and then the upstream shaft gear 49 rotates rapidly to drive the upper fixed cylinder 45. Next, the lead-out shaft 41 is driven through the worm 46, and the rotational speed of the lead-out shaft 41 rapidly increases in a short time.

[0049] After the focal length knob disc 8 re-engages with the cross bar 43, the transmission state between the head position cylinder 55 and the lead-out shaft 41 automatically returns to Figure 13 the state shown in, because the return elastic piece 47 rebounds to reset the cross bar 43, and the end of the reset cross bar 43 re-enters the arc groove of the focal length knob disc 8 again, that is, the adjusting plate 52 moves to the left during the reset.

[0050] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A steel structure crack detection device based on a binocular vision system, comprising two eyeball cameras installed on a drone, and a blinking mechanism arranged between the two eyeball cameras, characterized in that: The blinking mechanism comprises: An eye frame is provided at the spherical lens of each eye camera, and the two eye frames are used to clean the spherical lenses of the two eye cameras respectively by blinking and wiping in turn; A plate swing device connected to one end of each eye frame, wherein the plate swing device is distributed between the two eye frames; A wheel controller, the wheel controller establishing a transmission between the two pan swing devices; a liquid tank mechanism for supplying lubricating cleaning liquid to the two pan swinging devices, and a horizontal bracket for fixing and supporting the liquid tank mechanism, wherein the horizontal bracket is fixed between the two eyeball cameras; A focus knob disk correspondingly mounted on each eye camera, and a synchronization axis vertically fixed between the two focus knob disks; A zoom accelerator is installed between the two eyeball cameras, one end of the zoom accelerator is connected to the wheel controller for transmission, and the zoom accelerator is also in contact with the focus knob for transmission.

2. The steel structure crack detection device based on a binocular vision system according to claim 1, characterized in that: The eye frame comprises: An arc-shaped rubber strip in contact with the spherical lens of the eyeball camera, and a spring pressure frame assembly supporting the arc-shaped rubber strip; The tear duct fixed on the spring pressure frame assembly is provided with an arc section, and a row of small holes is opened on the arc section. When the arc rubber strip wipes the spherical lens of the eyeball camera dryly, the row of small holes in the tear duct sprays lubricating cleaning liquid toward the spherical lens of the eyeball camera.

3. The steel structure crack detection device based on a binocular vision system according to claim 2, characterized in that: The plate-stirring device comprises: A single plate tool driving the spring pressure frame group to swing back and forth, and a single frame supporting the single plate tool, wherein one end of the single frame is fixed on the horizontal bracket; A switch device is provided for establishing communication between the liquid tank mechanism and the tear duct, and the single disk device pushes and controls the switch device.

4. A steel structure crack detection device based on a binocular vision system according to claim 3, characterized in that: The single disk tool includes a disk shaft movably sleeved in a through hole opened on the single frame, a single disk with one end of the disk shaft fixed, an arc travel plate arranged at the edge of one end of the single disk, a retracting spring piece fixed on the single disk, a switch rod with one end in sliding contact with the arc travel plate, and an arc-shaped resistance column in sliding contact with the other end of the switch rod, the switch rod slides through a column hole opened in an L-shaped plate arranged on the single disk, a pad is arranged on the arc travel plate to push a hemisphere arranged at the end of the switch rod, one end of the retracting spring piece rests on a convex plate vertically arranged on the arc travel plate, the arc travel plate is fixedly connected to the spring pressure frame group, and the arc travel plate slides through the arc plate hole opened in the convex block arranged on the single disk.

5. The steel structure crack detection device based on a binocular vision system according to claim 4, characterized in that: The switch device includes a neck tube with one end fixedly connected to the liquid tank mechanism, a movable barrel connected to the other end of the neck tube, a door post for blocking the neck tube passage, and a return pressure spring plate with one end resting on the door post, the other end of the return pressure spring plate is fixed on the neck tube, one end of the door post is fixedly connected to the arc-shaped blocking column, and the other end is slidably inserted into a square tube provided on the neck tube, the movable barrel is movably sleeved in a cylinder provided on the neck tube, and the movable barrel is fixedly connected to the tear tube.

6. The steel structure crack detection device based on a binocular vision system according to claim 4, characterized in that: The wheel controller includes a steering frame fixed on the transverse bracket, a camshaft movably sleeved in a through hole opened on the transverse bracket, a cam fixed at one end of the camshaft, a positive L-shaped frame in contact with one side of the cam, an inverted L-shaped frame in contact with the other side of the cam, and spring return assemblies provided on both the positive L-shaped frame and the inverted L-shaped frame. One spring return assembly is connected between the positive L-shaped frame and the steering frame and pushes the positive L-shaped frame against the cam. The other spring return assembly is connected between the inverted L-shaped frame and the steering frame and pushes the inverted L-shaped frame against the cam. Two struts are provided on the steering frame to respectively slide through square holes opened on the positive L-shaped frame and the inverted L-shaped frame. One end of a disk shaft is in meshing transmission with a row of teeth provided on the inverted L-shaped frame by setting a shaft gear. The other end of the disk shaft is in meshing transmission with a row of teeth provided on the positive L-shaped frame by setting a shaft gear.

7. The steel structure crack detection device based on a binocular vision system according to claim 6, characterized in that: The wheel controller further includes a T-shaped plate and a C-shaped elastic sheet fixed on the steering frame. One end of the T-shaped plate is slidably inserted into a plate hole opened on the steering frame. The other end of the T-shaped plate is clamped into a V-shaped groove opened on the side wall of the camshaft by setting a tip. The C-shaped elastic sheet presses the T-shaped plate.

8. The steel structure crack detection device based on a binocular vision system according to claim 6, characterized in that: The zoom accelerator includes an inner frame fixed between two eyeball cameras, a lead-out shaft movably sleeved in a through hole opened on the inner frame, a mainspring fixedly sleeved at one end of the lead-out shaft, a round cover shell fixedly sleeved outside the mainspring, a speed change integration supported on the inner frame, and a cross bar provided on the speed change integration. A plurality of arc grooves are evenly arranged in a ring shape on the edge of the focal length knob disk. The end of the cross bar is clamped in the arc groove of the focal length knob disk. The round cover shell is movably sleeved on the lead-out shaft by setting a bottom ring plate. The round cover shell is in meshing transmission with a bevel gear provided at the end of the camshaft by setting an external gear ring.

9. The steel structure crack detection device based on a binocular vision system according to claim 8, characterized in that: The speed change integration includes an upper fixed cylinder, a worm, a lower fixed cylinder and a head position cylinder supported and positioned by the inner frame, and a large disk gear fixedly sleeved on the head position cylinder. One end of the worm is in meshing transmission with an annular bevel gear sleeved on the upper fixed cylinder by setting a fixed bevel gear. The other end of the worm is in meshing transmission with an annular bevel gear sleeved on the lower fixed cylinder by setting a fixed bevel gear. The spiral teeth on the worm are in meshing transmission with a cylinder gear fixed on the lead-out shaft.

10. The steel structure crack detection device based on a binocular vision system according to claim 9, characterized in that: The speed change integration further includes an adjusting plate, an upstream shaft gear supported at one end of the adjusting plate, a downstream shaft gear supported at the other end of the adjusting plate, a square pile column slidably passing through a square hole opened in the middle of the adjusting plate, a bow-shaped elastic sheet connected between the square pile column and the adjusting plate, and a return elastic sheet fixed on the inner frame. The return elastic sheet makes the cross bar and the focal length knob disk clamped by pressing the cross bar. The square pile column is vertically and fixedly connected to the cross bar. The upstream shaft gear and the downstream shaft gear are respectively movably sleeved in different through holes opened on the adjusting plate. One end of the upstream shaft gear is slidably inserted into a gear hole opened on the upper fixed cylinder. The other end of the upstream shaft gear is in contact and meshing with the large disk gear by axial movement. One end of the downstream shaft gear is slidably inserted into a gear hole opened on the head position cylinder, and the other end of the downstream shaft gear is withdrawn from a gear hole opened on the lower fixed cylinder by axial movement.

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